def addTetraMeshSB(self,vertices, faces,normals = None,ghost=False,**kw): #step 1) create GeomVertexData and add vertex information # Soft body world information info = self.world.getWorldInfo() info.setAirDensity(1.2) info.setWaterDensity(0) info.setWaterOffset(0) info.setWaterNormal(Vec3(0, 0, 0)) points = [Point3(x,y,z) * 3 for x,y,z in vertices] indices = sum([list(x) for x in faces], []) #step 4) create the bullet softbody and node bodyNode = BulletSoftBodyNode.makeTetMesh(info, points, indices, True) bodyNode.setName('Tetra') bodyNode.setVolumeMass(150000) bodyNode.getShape(0).setMargin(0.01) bodyNode.getMaterial(0).setLinearStiffness(0.9) bodyNode.getCfg().setPositionsSolverIterations(4) bodyNode.getCfg().clearAllCollisionFlags() bodyNode.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True) bodyNode.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True) bodyNode.generateClusters(12) bodyNode.setPose(True, True) bodyNP = self.worldNP.attachNewNode(bodyNode) geom = BulletHelper.makeGeomFromFaces(bodyNode) geomNode = GeomNode('vtetra') geomNode.addGeom(geom) # self.setRB(bodyNP,**kw)#set po # inodenp.setCollideMask(BitMask32.allOn()) self.world.attachSoftBody(bodyNode) geomNP = bodyNP.attachNewNode(geomNode) bodyNode.linkGeom(geom) return bodyNP,geomNP
def setup(self): self.worldNP = render.attachNewNode('World') # World self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug')) self.debugNP.show() self.world = BulletWorld() self.world.setGravity(Vec3(0, 0, -9.81)) self.world.setDebugNode(self.debugNP.node()) # Ground p0 = Point3(-20, -20, 0) p1 = Point3(-20, 20, 0) p2 = Point3(20, -20, 0) p3 = Point3(20, 20, 0) mesh = BulletTriangleMesh() mesh.addTriangle(p0, p1, p2) mesh.addTriangle(p1, p2, p3) shape = BulletTriangleMeshShape(mesh, dynamic=False) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh')) np.node().addShape(shape) np.setPos(0, 0, -4) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) # Soft body world information info = self.world.getWorldInfo() info.setAirDensity(1.2) info.setWaterDensity(0) info.setWaterOffset(0) info.setWaterNormal(Vec3(0, 0, 0)) # Softbody - From points/indices #import cube #points = [Point3(x,y,z) * 3 for x,y,z in cube.nodes] #indices = sum([list(x) for x in cube.elements], []) #node = BulletSoftBodyNode.makeTetMesh(info, points, indices, True) #node.setVolumeMass(300); #node.getShape(0).setMargin(0.01) #node.getMaterial(0).setLinearStiffness(0.8) #node.getCfg().setPositionsSolverIterations(1) #node.getCfg().clearAllCollisionFlags() #node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True) #node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True) #node.generateClusters(16) #softNP = self.worldNP.attachNewNode(node) #softNP.setPos(0, 0, 8) #softNP.setHpr(0, 0, 45) #self.world.attachSoftBody(node) # Softbody - From tetgen data ele = file('models/cube/cube.1.ele', 'r').read() face = file('models/cube/cube.1.face', 'r').read() node = file('models/cube/cube.1.node', 'r').read() node = BulletSoftBodyNode.makeTetMesh(info, ele, face, node) node.setName('Tetra') node.setVolumeMass(300) node.getShape(0).setMargin(0.01) node.getMaterial(0).setLinearStiffness(0.1) node.getCfg().setPositionsSolverIterations(1) node.getCfg().clearAllCollisionFlags() node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True) node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True) node.generateClusters(6) softNP = self.worldNP.attachNewNode(node) softNP.setPos(0, 0, 8) softNP.setHpr(45, 0, 0) self.world.attachSoftBody(node) # Option 1: visNP = loader.loadModel('models/cube/cube.egg') visNP.reparentTo(softNP) geom = visNP \ .findAllMatches('**/+GeomNode').getPath(0).node() \ .modifyGeom(0) node.linkGeom(geom)
def setup(self): self.worldNP = render.attachNewNode('World') # World self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug')) self.debugNP.show() self.world = BulletWorld() self.world.setGravity(Vec3(0, 0, -9.81)) self.world.setDebugNode(self.debugNP.node()) # Ground p0 = Point3(-20, -20, 0) p1 = Point3(-20, 20, 0) p2 = Point3(20, -20, 0) p3 = Point3(20, 20, 0) mesh = BulletTriangleMesh() mesh.addTriangle(p0, p1, p2) mesh.addTriangle(p1, p2, p3) shape = BulletTriangleMeshShape(mesh, dynamic=False) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh')) np.node().addShape(shape) np.setPos(0, 0, -4) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) # Soft body world information info = self.world.getWorldInfo() info.setAirDensity(1.2) info.setWaterDensity(0) info.setWaterOffset(0) info.setWaterNormal(Vec3(0, 0, 0)) # Softbody - From points/indices #import cube #points = [Point3(x,y,z) * 3 for x,y,z in cube.nodes] #indices = sum([list(x) for x in cube.elements], []) #node = BulletSoftBodyNode.makeTetMesh(info, points, indices, True) #node.setVolumeMass(300); #node.getShape(0).setMargin(0.01) #node.getMaterial(0).setLinearStiffness(0.8) #node.getCfg().setPositionsSolverIterations(1) #node.getCfg().clearAllCollisionFlags() #node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True) #node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True) #node.generateClusters(16) #softNP = self.worldNP.attachNewNode(node) #softNP.setPos(0, 0, 8) #softNP.setHpr(0, 0, 45) #self.world.attachSoftBody(node) # Softbody - From tetgen data ele = open('models/cube/cube.1.ele', 'r').read() face = open('models/cube/cube.1.face', 'r').read() node = open('models/cube/cube.1.node', 'r').read() node = BulletSoftBodyNode.makeTetMesh(info, ele, face, node) node.setName('Tetra') node.setVolumeMass(300) node.getShape(0).setMargin(0.01) node.getMaterial(0).setLinearStiffness(0.1) node.getCfg().setPositionsSolverIterations(1) node.getCfg().clearAllCollisionFlags() node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True) node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True) node.generateClusters(6) softNP = self.worldNP.attachNewNode(node) softNP.setPos(0, 0, 8) softNP.setHpr(45, 0, 0) self.world.attachSoftBody(node) # Option 1: visNP = loader.loadModel('models/cube/cube.egg') visNP.reparentTo(softNP) geom = visNP \ .findAllMatches('**/+GeomNode').getPath(0).node() \ .modifyGeom(0) node.linkGeom(geom)